#!/usr/bin/python
# roslaunch robot_sinulation sinulation_one_robot

import rospy
from geometry_msgs.msg import Twist

def cmd_vel_pub():
    rospy.init_node('draw_circle', anonymous=False)
    cmd_pub = rospy.Publisher('cmd_vel',Twist, queue_size=10)
    rate = rospy.Rate(10)
    twist = Twist()
    rospy.loginfo('Start Control Robot Draw a Circle')
    while not rospy.is_shutdown( ):
        twist.linear.x = 0.02
        twist.angular.z = 0.04
        cmd_pub.publish(twist)
        rate.sleep()

if __name__ == '__main__':
    try:
        cmd_vel_pub()
    except:
        rospy.loginfo("draw circle terminated.")
